Method and system for controlling and/or regulating the handling characteristics of a motor vehicle

The method as recited in one of the preceding claims, wherein the wheel speeds (V_VL, V_VR, V_HL, V_HR) detected by the sensors (SVL, SVR, SHL, SHR) are ABS-filtered wheel speeds.

The method as recited in one of the preceding claims, wherein first PTl-filtered wheel speeds (Van_VL, Van_VR, Van HL, Van_HR) are determined from the wheel speeds (V_VL, V_VR, V_HL, V_HR) detected by the sensors (SVL, SVR, SHL, SHR).

The method as recited in one of the preceding claims, wherein second PTl-filtered wheel speeds (VanF_VL, VanF_VR, VanF_HL, VanF_HR) are determined from wheel speeds (V_VL, V VR, V_HL, V_HR) detected by the sensors (SVL, SVR, SHL, SHR).

The method as recited in one of the preceding claims, wherein wheel accelerations (Avan_VL, Avan_VR, Avan_HL, Avan HR) are also taken into account in step b).

The method as recited in one of the preceding claims, wherein the wheel accelerations (Avan_VL, Avan_VR, Avan_HL, Avan_HR) are determined from the wheel speeds (V_VL, V_VR, V HL, V_HR) detected by the sensors (SVL, SVR, SHL, SHR).

The method as recited in one of the preceding claims, wherein the slowest wheel speed (V_1Ref) of the first filtered wheel speeds (Van_VL, Van_VR, Van_HL, Van_HR) and the respective wheel acceleration (A_V1Ref) are also taken into account in step b).

The method as recited in one of the preceding claims, wherein one or more of the following variables are taken into account in step b):

• second-slowest wheel speed (V_Second), average vehicle speed of the driven axles (VMAN), greatest positive wheel acceleration (AVAN_max), greatest negative wheel acceleration (AVAN_min), greatest wheel speed (VANmax).

The method as recited in one of the preceding claims, wherein an unfiltered reference speed (FZ_REF_un) is taken into account in step b).

The method as recited in one of the preceding claims, wherein the value of the greatest wheel speed (VANmax), the value of the slowest wheel speed (V_1Ref) or the value of the average vehicle speed of the driven axles (VMAN) is assigned to the unfiltered reference speed (FZ_REF_un) as a function of selected determined variables.

The method as recited in one of the preceding claims, wherein the forces acting on the wheels and/or tires (RVL, RVR, RHL, RHR) are taken into account according to step b) in the form of wheel pressures via wheel braking torques (MBrake 1, MBrake_2, MBrake_3, MBrake_4) acting on the wheels and/or tires (RVL, RVR, RHL, RHR).

The method as recited in one of the preceding claims, wherein the wheel braking torques (MBrake_1, MBrake_2, MBrake 3, MBrake_4) are determined by multiplying the wheel pressures by a brake coefficient (cp).

The method as recited in one of the preceding claims, wherein the sum (SumMBrake) of the wheel braking torques (MBrake_1, MBrake_2, MBrake_3, MBrake_4) is taken into account in step b).

The method as recited in one of the preceding claims, wherein the moments of inertia of the wheels (MJ_1, MJ_2, MJ 3, MJ_4) and the sum (MJ_SUM) of the moments of inertia of the wheels (MJ_1, MJ_2, MJ_3, MJ_4) are taken into account in step b).

The method as recited in one of the preceding claims, wherein a drive torque (MA) which corresponds to the product of an instantaneous engine torque and a transmission and gearshift ratio is taken into account in step b).

The method as recited in one of the preceding claims, wherein an air resistance moment (MWL) is taken into account in step b).

The method as recited in one of the preceding claims, wherein a theoretical longitudinal acceleration (ax_model) is determined as follows in step b):

• 4 ax_model = MA - SumMBrake - MJ_SUM - MWL R * m ,
• where MA denotes the drive torque, SumMBrake denotes the sum of the wheel braking torques (MBrake_1, MBrake_2, MBrake_3, MBrake_4), MJ_SUM denotes the sum of the moments of inertia of the wheels (MJ_1, MJ_2, MJ_3, MJ_4), MWL denotes the air resistance moment, R denotes the rolling radius of the wheels, i.e., tires (RVL, RVR, RHL, RHR) and m denotes the mass.

The method as recited in one of the preceding claims, wherein detection of wheel spinning is taken into account in step b).

The method as recited in one of the preceding claims, wherein a reference gradient (REFGRADIENT) is taken into account in step b).

The method as recited in one of the preceding claims, wherein the reference gradient (REFGRADIENT) is selected from a plurality of predefined reference gradient values.

A system for controlling and/or regulating driving response of a motor vehicle, in particular a vehicle having all-wheel drive, having at least two driven wheels, at least one sensor element of a sensor (SVL, SVR, SHL, SHR) being situated on the wheels, in particular on the wheel bearings, and/or in tires (RVL, RVR, RHL, RHR) assigned to the wheels, and the output signals of the sensors (SVL, SVR, SHL, SHR) being analyzed to control and/or regulate driving response of the vehicle,

• wherein the sensors (SVL, SVR, SHL, SHR) detect forces acting on the wheels and/or tires (RVL, RVR, RHL, RHR), and means (10) are provided for determining a reference speed (FZ_REF) representing the longitudinal speed of the vehicle, which is taken into account in controlling and/or regulating driving response, the forces acting on the wheels and/or tires (RVL, RVR, RHL, RHR) being taken into account in determining the reference speed.

A system for controlling and/or regulating the driving response of a motor vehicle having all-wheel drive and having at least two tires (RVL, RVR, RHL, RHR) and/or two wheels, wherein a force sensor is mounted in the tires (RVL, RVR, RHL, RHR) or on the wheels, in particular on the wheel bearings, and, a reference speed variable (FZ_REF) representing the longitudinal speed of the vehicle is determined as a function of the output signals of the force sensor and this reference speed variable (FZ_REF) is taken into account in controlling and/or regulating the driving response.